机器人嵌入式传感与人机交互技术设计

发布时间：2018-04-17 18:47

本文选题：机器人 + 嵌入式传感　；参考：《南京理工大学》2017年硕士论文

【摘要】：随着机器人技术的不断发展,传感器技术和人机交互技术在机器人上的应用日益凸显。嵌入式传感器多节点分布、多传感信息融合、和多样化的人机交互方式是未来机器人技术的重点发展方向之一。本文以某特种军用机器人为平台研究嵌入式传感与人机交互技术在机器人上的应用,搭建了包括线圈传感器节点、温度及压力传感器节点的传感器系统和人机交互系统。该嵌入式传感系统的关键在于线圈传感器和测速单元的优化设计,论文通过分析现有测速方法的特点,确定了基于线圈传感器原理的测速方案,设计了由两组相隔一定距离的双串接线圈构成的测速传感器,实现对机器人阵列发射单元的速度测量。系统各传感器节点采用模块化设计和无线数据传输,彼此独立工作,具有体积小、拖线少、便于多传感节点布置和节点数目易扩充的优点。系统人机交互由控制单元、电脑和手机组成,实现了语音交互功能、PC机LabVIEW和WEB网页交互功能、手机蓝牙APP和短信交互功能,系统具有互补作用的多人机交互途经可提高其对复杂环境的适应性。本文对设计的嵌入式传感和人机交互系统进行了制作和验证实验,验证了所设计的嵌入式传感和人机交互系统软硬件的可行性,对有类似功能需求的机器人设计具有一定参考价值。
[Abstract]:With the development of robot technology, sensor technology and human-computer interaction technology are becoming more and more important.Multi-node distribution of embedded sensors, multi-sensor information fusion, and a variety of human-computer interaction methods are one of the key development directions of robot technology in the future.In this paper, a special military robot is used to study the application of embedded sensor and human-computer interaction technology on the robot, and a sensor system including coil sensor node, temperature and pressure sensor node and human-computer interaction system is built.The key of the embedded sensor system lies in the optimization design of the coil sensor and the speed measuring unit. By analyzing the characteristics of the existing speed measurement methods, the paper determines the speed measurement scheme based on the principle of the coil sensor.A speed sensor composed of two groups of double series coils with a certain distance is designed to measure the velocity of the robot array emitter unit.Each sensor node in the system uses modularization design and wireless data transmission, which work independently of each other. It has the advantages of small volume, less towing lines, convenient multi-sensor node arrangement and easy expansion of the number of nodes.The system consists of a control unit, a computer and a mobile phone. It realizes the interactive functions of voice interaction, PC LabVIEW and WEB web page, Bluetooth APP and short message.Multi-man-machine interaction with complementary function can improve the adaptability of the system to complex environment.In this paper, the design of the embedded sensor and human-computer interaction system is made and verified, and the feasibility of the hardware and software of the embedded sensing and human-computer interaction system is verified.It has some reference value for robot design with similar function.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TP11

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